Related papers: Control of Multiagent Formations
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…
This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility…
Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, or smart transportation systems. Currently, most control…
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…
This work introduces a distributed formation control strategy for multi-agent systems based solely on rotation symmetry constraints. We propose a potential function that enforces inter-agent \textbf{rotational} symmetries, whose gradient…
The problem of distributed controller synthesis for formation control of multi-agent systems is considered. The agents (single integrators) communicate over a communication graph and a decentralized linear feedback structure is assumed. One…
Distributed formation maneuver control refers to the problem of maneuvering a group of agents to change their formation shape by adjusting the motions of partial agents, where the controller of each agent only requires local information…
While multi-agent interactions can be naturally modeled as a graph, the environment has traditionally been considered as a black box. We propose to create a shared agent-entity graph, where agents and environmental entities form vertices,…
This paper focuses on the consensus and formation problems of multiagent systems under unknown persistent disturbances. Specifically, we propose a novel method that combines an existing consensus (or formation) algorithm with a new…
This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…
This paper addresses the problem of formation control and tracking a of desired trajectory by an Euler-Lagrange multi-agent systems. It is inspired by recent results by Qingkai et al. and adopts an event-triggered control strategy to reduce…
We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…
Multiagent systems consist of agents that locally exchange information through a physical network subject to a graph topology. Current control methods for networked multiagent systems assume the knowledge of graph topologies in order to…
We consider the problem of steering a multi-agent system to multi-consensus, namely a regime where groups of agents agree on a given value which may be different from group to group. We first address the problem by using distributed…
This paper addresses the coverage control problem of multi-agent systems in the uncertain environment. With the aid of Voronoi partition, a distributed coverage control formulation of multi-agent system is proposed to complete the workload…
We study the general formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The…
In this work, we design distributed control laws for spatial self-organization of multi-agent swarms in 1D and 2D spatial domains. The objective is to achieve a desired density distribution over a simply-connected spatial domain. Since…
The paper presented in this article deals with the issue of distributed cooperative formation of multi-agent systems (MASs). It proposes the use of appropriate neural network control methods to address formation requirements (uncertainties…
We develop a learning-based algorithm for the distributed formation control of networked multi-agent systems governed by unknown, nonlinear dynamics. Most existing algorithms either assume certain parametric forms for the unknown dynamic…
This paper studies the problem of distributed formation maneuver control of multi-agent systems via complex Laplacian. We will show how to change the translation, scaling, rotation, and also the shape of formation continuously by only…